WO2022080337A1 - ロボット用保守治具 - Google Patents

ロボット用保守治具 Download PDF

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Publication number
WO2022080337A1
WO2022080337A1 PCT/JP2021/037641 JP2021037641W WO2022080337A1 WO 2022080337 A1 WO2022080337 A1 WO 2022080337A1 JP 2021037641 W JP2021037641 W JP 2021037641W WO 2022080337 A1 WO2022080337 A1 WO 2022080337A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
jig
maintenance
actuator
lower portion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/037641
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
篤史 堀米
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to CN202180069211.9A priority Critical patent/CN116367978B/zh
Priority to US18/248,111 priority patent/US12145260B2/en
Priority to DE112021003940.7T priority patent/DE112021003940T5/de
Priority to JP2022509132A priority patent/JP7148755B2/ja
Publication of WO2022080337A1 publication Critical patent/WO2022080337A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0066—Means or methods for maintaining or repairing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators

Definitions

  • This disclosure relates to maintenance jigs for robots.
  • a maintenance tool for lifting a motor removed during robot maintenance work by a chain block placed above the robot installed on the floor is known (see, for example, Patent Document 1).
  • the maintenance tool of Patent Document 1 is a maintenance tool on the premise of a robot installed on the floor surface, and cannot be used for maintenance work of a ceiling-mounted robot suspended from the ceiling. Further, in the maintenance work of the ceiling-mounted robot, the crane installed on the ceiling cannot be used because the gantry on which the robot is installed becomes an obstacle. When the gantry is disassembled and lowered to the floor together with the robot, maintenance work can be performed using an overhead crane, but the work efficiency is poor. Therefore, it is desired to maintain the ceiling-mounted robot without lowering it on the floor.
  • One aspect of the present disclosure is to attach to the actuator of a jig body that is detachably attached to a robot mounted on a pedestal in a ceiling-suspended state and a mechanical portion of the robot that is driven by an actuator to be maintained.
  • a first suspension lower portion that can be arranged vertically above the position of the center of gravity in the state of being able to suspend the mechanism portion from the jig body by the first suspension member, and the center of gravity of the actuator in a state of being attached to the robot.
  • It is a maintenance jig for a robot that can be arranged vertically above the position and has a second suspension lower portion that allows the actuator to be suspended from the jig body by a second suspension member.
  • the maintenance jig 10 for a robot according to the present embodiment is a maintenance jig used for maintenance work of a ceiling-mounted robot 100 suspended and installed on a gantry R.
  • the robot 100 rotatably supports the base 110 installed on the ceiling of the gantry R from below and the first axis (axis) J1 extending in the vertical direction with respect to the base 110. It is equipped with a plumb bob 120. Further, the robot 100 has a first arm 130 rotatably supported with respect to the swivel cylinder 120 around the second axis J2 extending in the horizontal direction, and a first arm around the third axis J3 parallel to the second axis J2. It is equipped with a second arm 140 that is rotatably supported with respect to 130. A three-axis wrist unit 150 is supported at the tip of the second arm 140.
  • the robot maintenance jig 10 is used for maintenance such as replacement of the actuator 121 that drives the first arm 130 with respect to the swivel cylinder 120. .. Further, the maintenance jig 10 for the robot is used when performing maintenance such as replacement of the actuator 131 for driving the second arm 140 with respect to the first arm 130.
  • the actuator 121 for driving the first arm 130 is maintained will be described as an example.
  • the actuator 121 that drives the first arm 130 is a speed reducer 122 arranged between the swivel cylinder 120 and the first arm 130, and a motor that is fixed to the swivel cylinder 120 and generates power to be input to the speed reducer 122. (Not shown).
  • a speed reducer 122 arranged between the swivel cylinder 120 and the first arm 130
  • a motor that is fixed to the swivel cylinder 120 and generates power to be input to the speed reducer 122.
  • the mechanism unit 160 needs to be suspended.
  • the mechanism unit 160 needs to be suspended.
  • the mechanism unit 160 when replacing the speed reducer 122, the mechanism unit 160 must be removed from the speed reducer 122, so that the mechanism unit 160 also needs to be suspended.
  • the maintenance jig 10 for a robot includes a jig main body 20, a first suspension lower portion 30, and a second suspension lower portion 40.
  • the jig body 20 is, for example, a frame-shaped structure constructed by combining steel materials with high rigidity, and by fastening bolts to screw holes for transporting the robot formed on the side surface of the swivel cylinder 120. It is fixed to the swivel cylinder 120.
  • the jig main body 20 is fixed to the swivel cylinder 120, so that a pair of parallel long members 21 extending horizontally from the swivel cylinder 120 toward the front of the robot 100 in a cantilever shape. It is equipped with. Further, the jig main body 20 is arranged in parallel with a plurality of connecting members 22 spanning the upper surfaces of the pair of long members 21 mounted on the swivel cylinder 120 and in parallel with the center of the pair of long members 21. It is provided with a support member 23 that is bridged over the upper surface of the connecting member 22.
  • the first hanging lower portion 30 is composed of a hanging metal fitting having an annular portion (mounting portion) 30a such as an eyebolt, which is fixed by being fastened to a screw hole provided on the lower surface of the support member 23. ..
  • the first suspension lower portion 30 is arranged substantially vertically above the position of the center of gravity of the mechanism portion 160 when the mechanism portion 160 attached to the speed reducer 122 is in the maintenance posture.
  • the maintenance posture of the mechanism unit 160 is, for example, a posture in which the first arm 130 is extended vertically downward and the second arm 140 is extended in the horizontal direction.
  • the second suspension lower portion 40 is composed of a rod-shaped member extending in parallel with the second axis J2, and is bridged and fixed to the upper surface of the pair of long members 21.
  • the second suspension lower portion 40 is arranged substantially vertically above the position of the center of gravity of the speed reducer 122 attached to the swivel cylinder 120.
  • the robot maintenance jig 10 When replacing the speed reducer 122 of the ceiling-mounted robot 100, first, as shown in FIG. 2, the jig body 20 is attached to the swivel cylinder 120 of the robot 100 suspended from the gantry R.
  • the mechanism portion 160 is suspended from the first suspension portion 30 by the first suspension member 35 attached to the annular portion 30a of the first suspension portion 30.
  • the first suspension member 35 includes three sets of chain blocks 35a and a suspension belt 35b.
  • One of the suspension belts 35b arranged at both ends of the chain block 35a is attached to the annular portion 30a of the first suspension lower portion 30, and the other suspension belt 35b is hung around each part of the mechanism portion 160 or a hanging bracket attached to the mechanism portion 160. Hook on 160a. Then, the chain block 35a is operated to adjust the tension of each suspension belt 35b. In this state, by removing the bolt that attaches the mechanism unit 160 to the speed reducer 122, the mechanism unit 160 can be separated from the speed reducer 122 and suspended from the first suspension lower portion 30.
  • the mechanism unit 160 since the first suspension lower portion 30 is arranged substantially vertically above the position of the center of gravity of the mechanism unit 160 attached to the speed reducer 122, the mechanism unit 160 is separated from the speed reducer 122. Is suspended vertically above the position of its center of gravity. As a result, it is possible to prevent the mechanism unit 160 from suddenly moving at the moment when the speed reducer 122 is disconnected, and to maintain a stable suspended state.
  • the mechanism portion 160 suspended from the first suspension lower portion 30 is rotated around a vertical line and changed in direction as shown by an arrow A. Since the position of the center of gravity of the mechanism unit 160 is arranged in front of the second axis J2, the mechanism unit 160 separated from the speed reducer 122 is rotated around the vertical line passing through the position of the center of gravity to reduce the speed reducer 122. It can be moved away from. As a result, a wide work space can be secured when the speed reducer 122 is removed from the robot 100, and work efficiency can be improved.
  • the second suspension member 45 includes a chain block 45a and a jig 45b fixed to the speed reducer 122.
  • the tension of the wire of the chain block 45a is adjusted by operating the chain block 45a with one hook of the chain block 45a hooked on the second hanging lower portion 40 and the other hook hooked on the jig 45b.
  • the speed reducer 122 removed from the swivel cylinder 120 can be suspended by the second suspension member 45.
  • the second suspension lower portion 40 is arranged substantially vertically above the position of the center of gravity of the speed reducer 122 attached to the swivel cylinder 120, even if the speed reducer 122 is separated from the swivel cylinder 120, the speed reducer 122 Can be maintained in a stable suspended state.
  • the suspended speed reducer 122 can be moved in a direction away from the swivel cylinder 120.
  • the speed reducer 122 can be suspended to the floor by operating the chain block 45a while the speed reducer 122 is moved to a position where it does not come into contact with the swivel cylinder 120 or the like.
  • the second suspension member 45 is replaced with the repaired reduction gear 122 or the new reduction gear 122, and the chain block 45a is operated again to lift the reduction gear 122 to the position of the second axis J2 and attach it to the swivel cylinder 120.
  • the mechanism unit 160 is attached to the speed reducer 122. As a result, the replacement work of the speed reducer 122 is completed.
  • the speed reducer 122 and the mechanism unit 160 are suspended from the jig body 20 fixed to the swivel body 120, the speed reducer 122 is not disturbed by the gantry R to which the robot 100 is attached. Can be replaced. That is, the speed reducer 122 of the robot 100 in a suspended state can be maintained without using an overhead crane.
  • the jig main body 20 can be interlocked with the swivel cylinder 120.
  • the first suspension lower portion 30 is arranged vertically above the center of gravity position of the mechanism unit 160
  • the second suspension lower portion 40 is arranged vertically above the center of gravity position of the speed reducer 122. Can be placed.
  • the first hanging lower portion 30 is composed of a hanging metal fitting having an annular portion 30a fixed to the support member 23 of the jig main body 20.
  • the annular portion 30a may be configured to be rotatable around a vertical line with respect to the jig main body 20.
  • the mechanism unit 160 which is separated from the speed reducer 122 and suspended from the first suspension member 35 by the first suspension member 35, is easily rotated in a vertical direction. You can change the orientation. That is, the mechanism unit 160 can be easily separated from the speed reducer 122, a wide work space for removing the speed reducer 122 from the robot 100 is secured, and the workability of maintenance work for the speed reducer 122 can be improved.
  • a plurality of screw holes to which the hanging metal fittings constituting the first hanging lower portion 30 can be attached may be provided at intervals in the longitudinal direction of the support member 23.
  • the hanging metal fitting since the position of the center of gravity of the mechanism portion 160 changes depending on the weight of the tool or the like attached to the tip of the wrist unit 150, the hanging metal fitting may be fixed to the screw hole at the position closest to the vertical upper position of the center of gravity.
  • the first suspension lower portion 30 is supported by a rail 31 fixed in parallel with the long member 21 on the lower surface of the connecting member 22 and horizontally movable along the rail 31.
  • the structure may be such that the slider 32 is provided and the hanging metal fitting is fixed to the slider 32.
  • the hanging metal fitting can be arranged at the position closest to the vertical upper position of the center of gravity of the mechanism portion 160, and the suspended mechanism portion 160 is moved in the horizontal direction. , Can be more easily moved away from the reducer 122.
  • the direction of the rail 31 is preferably arranged at the center of the pair of long members 21 for adjusting the position of the center of gravity, but for moving the mechanism portion 160, it is along an arbitrary horizontal direction. May be arranged.
  • the second suspension lower portion 40 extends in parallel with the second axis J2 is illustrated, instead of this, it may extend in any direction in the horizontal direction.
  • the first suspension member 35 attached to the first suspension lower portion 30 is provided with a chain block 35a for adjusting the height position of the suspended mechanism portion 160.
  • the first suspension lower portion 30 may include a first height adjusting mechanism 36 such as a chain block.
  • a second height adjusting mechanism 46 such as a chain block that adjusts the height position of the speed reducer 122 suspended by the second hanging lower portion 40 may be provided.
  • the maintenance jig 10 for the robot is a jig lifting jig 26 for fixing a chain block for pulling the jig main body 20 to the position of the swivel cylinder 120. May be fixed to the swivel cylinder 120 or the base 110. Since the jig main body 20 may be lifted as a unit or is a heavy object, the long member 21, the connecting member 22 and the support member 23 may be separately lifted and assembled while being fixed to the swivel cylinder 120. ..
  • the jig main body 20 is fixed to the swivel cylinder 120, but instead of this, when the swivel cylinder 120 can be arranged at a specific maintenance position with respect to the base 110 at the time of maintenance.
  • the jig body 20 may be fixed to the base 110. By attaching the jig body 20 to the base 110, the work space above the mechanism portion 160 can be expanded as compared with the case where the jig body 20 is attached to the swivel cylinder 120.
  • the case where the speed reducer 122 is replaced has been described, but instead of this, the case where the motor is replaced may be applied.
  • the mechanism unit 160 is suspended from the first suspension member 35 by the first suspension member 35, and the motor is suspended by the second suspension member 45 without disconnecting the mechanism unit 160 from the speed reducer 122. 2
  • the motor may be removed from the swivel cylinder 120 while being suspended from the hanging lower portion 40.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2021/037641 2020-10-13 2021-10-12 ロボット用保守治具 Ceased WO2022080337A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN202180069211.9A CN116367978B (zh) 2020-10-13 2021-10-12 机器人用维护夹具
US18/248,111 US12145260B2 (en) 2020-10-13 2021-10-12 Robot maintenance fixture
DE112021003940.7T DE112021003940T5 (de) 2020-10-13 2021-10-12 Roboterwartungshalterung
JP2022509132A JP7148755B2 (ja) 2020-10-13 2021-10-12 ロボット用保守治具

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-172429 2020-10-13
JP2020172429 2020-10-13

Publications (1)

Publication Number Publication Date
WO2022080337A1 true WO2022080337A1 (ja) 2022-04-21

Family

ID=81209127

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/037641 Ceased WO2022080337A1 (ja) 2020-10-13 2021-10-12 ロボット用保守治具

Country Status (5)

Country Link
US (1) US12145260B2 (https=)
JP (1) JP7148755B2 (https=)
CN (1) CN116367978B (https=)
DE (1) DE112021003940T5 (https=)
WO (1) WO2022080337A1 (https=)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20120014650A (ko) * 2010-08-10 2012-02-20 르노삼성자동차 주식회사 다관절 로봇용 암고정 장치
JP2013078815A (ja) * 2011-10-03 2013-05-02 Yaskawa Electric Corp ロボットシステム
US8464413B1 (en) * 2009-11-06 2013-06-18 Honda Motor Co., Ltd. Robot gear reducer replacing apparatus and method
US20170232581A1 (en) * 2016-02-11 2017-08-17 GM Global Technology Operations LLC Fixture assembly for use in maintaining heavy equipment

Family Cites Families (19)

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Publication number Priority date Publication date Assignee Title
JPH05116091A (ja) 1991-10-25 1993-05-14 Toyoda Mach Works Ltd ロボツトの保守用具
JP2647301B2 (ja) * 1992-03-05 1997-08-27 ファナック株式会社 ロボットアームのバランサ装置
JPH08323658A (ja) 1995-05-31 1996-12-10 Pentel Kk ロボット装置
JPH0938885A (ja) 1995-07-31 1997-02-10 Pentel Kk ロボットのモーターの交換方法
DE19945081C2 (de) * 1999-09-21 2003-06-18 Heraeus Med Gmbh Deckengestützte Aufhängung für ein Gerät, insbesondere Operationsleuchte
JP5532760B2 (ja) * 2009-08-31 2014-06-25 株式会社安川電機 搬送システム，ロボット装置及びワークの製造方法
JP5680467B2 (ja) * 2011-03-31 2015-03-04 日立金属Ｍｍｃスーパーアロイ株式会社 吊り下げ用治具
CN102814637B (zh) * 2012-08-31 2015-05-27 天津博信汽车零部件有限公司 一种汽车后座椅安装吊运机械手
JP6309224B2 (ja) 2013-08-26 2018-04-11 株式会社ダイヘン 吊り下げ構造体及び吊り下げ構造体の使用方法
CN105858442B (zh) * 2016-05-24 2017-07-07 中国重汽集团大同齿轮有限公司 消防车专用变速器吊装装置
JP6291532B2 (ja) * 2016-07-13 2018-03-14 本田技研工業株式会社 ロボットによる係合確認方法
US10876679B2 (en) * 2018-01-29 2020-12-29 George Monir Personal radiation garment suspension system
JP6882238B2 (ja) * 2018-09-05 2021-06-02 ファナック株式会社 ロボットのバランサのメインテナンス用治具
US20220080546A1 (en) * 2018-11-27 2022-03-17 Inventio Ag Mounting device and method for automated drilling of holes in building walls
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JP7068224B2 (ja) * 2019-04-04 2022-05-16 ファナック株式会社 ロボットの減速機を支持する治具、及び治具を用いて減速機を交換する方法
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JP7316096B2 (ja) 2019-05-23 2023-07-27 ファナック株式会社 治具およびロボット取外方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8464413B1 (en) * 2009-11-06 2013-06-18 Honda Motor Co., Ltd. Robot gear reducer replacing apparatus and method
KR20120014650A (ko) * 2010-08-10 2012-02-20 르노삼성자동차 주식회사 다관절 로봇용 암고정 장치
JP2013078815A (ja) * 2011-10-03 2013-05-02 Yaskawa Electric Corp ロボットシステム
US20170232581A1 (en) * 2016-02-11 2017-08-17 GM Global Technology Operations LLC Fixture assembly for use in maintaining heavy equipment

Also Published As

Publication number Publication date
CN116367978B (zh) 2025-10-28
CN116367978A (zh) 2023-06-30
US20230381982A1 (en) 2023-11-30
JP7148755B2 (ja) 2022-10-05
JPWO2022080337A1 (https=) 2022-04-21
DE112021003940T5 (de) 2023-07-13
US12145260B2 (en) 2024-11-19

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